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parameters.md

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Parameters

After running the node, you can check parameters by:
ros2 param list
or
ros2 run rqt_reconfigure rqt_reconfigure

Serial communication

  • port_name [ /dev/ttyUSB0 ], std::string, port name
  • baud_rate [ 115200 ], int, baud rate
  • disable_timeout [ true ], bool, disable timeout check
  • timeout_connection [ 60.0 ], float, how many seconds of no communication are required to declare timeout, -1.0 disable the timeout
  • try_reconnect [ false ], bool, force reconnection after timeout
  • show_extra_verbose [ false ], bool, show extra verbose in terminal

IMU

  • publishIMU [true], bool, enable or disable IMU
  • imu.frame_id [ imu_link ], std::string, frame id used for imu
  • imu.offset.accelerometer.x/y/z [ 0.0 ], float, offset of accelerometer measuraments on x, y and z axis
  • imu.offset.gyro.x/y/z [0.0], float, offset of gyroscope measuraments on x,y and z axis
  • imu.scale_compensation.accelerometer.x/y/z [ 1.0 ], float, compensation accelerometer measuraments on x, y and z axis
  • imu.scale_compensation.gyro.x/y/z [1.0], float, compensation gyroscope measuraments on x,y and z axis
  • imu.scale.accelerometer [ 2.0 ], float, range of m/s^2
  • imu.scale.gyro [ 250.0 ], float, range of rad/s

Model

  • publishTF [ true ], bool, broadcast the transformation for odometry
  • frame_id [ base_link ], std::string, robot frame id
  • odom.frame_id [ odom ], std::string, frame id for odometry
  • force_delta_t [ false ], bool, force to use delta_t parameter for odometry integration
  • delta_t [ 0.01 ], double, integration time for odometry
  • model.type [ mecanum ], std::string, options: "mecanum", "differential" and "skid"
    • for mecanum:
      • model.size.chassis.x [ 0.0825 ], float, lx on mecanum model (half of the wheel base)
      • model.size.chassis.y [ 0.105 ], float, ly on mecanum model (half of the distance between left wheels and right wheels)
      • model.size.wheel.radius [ 0.04 ], float, wheel radius on mecanum model
    • for differential:
      • model.size.chassis.wheel_separation [0.15], float, distance between two wheels
      • model.size.wheel.radius [0.0325], float, wheel radius on differential model
    • for skid:
      • model.size.chassis.wheel_separation [ 0.0825 ], float, half of the distance between left wheels and right wheelss
      • model.size.wheel.radius [ 0.04 ], float, wheel radius

Battery

  • publishBattery [true], bool, enable or disable Battery message
  • battery_max_voltage [12.5], float, maximum voltage of the used battery
  • battery_min_voltage [10.0], float, minimum voltage of the used battery

Dynamic parameters

  • show_extra_verbose
  • publish_TF
  • imu.offset.accelerometer.x/y/z
  • imu.offset.gyro.x/y/z
  • imu.scale_compensation.accelerometer.x/y/z
  • imu.scale_compensation.gyro.x/y/z
  • imu.scale.accelerometer
  • imu.scale.gyro

Copyright (c) 2022 G. Bruno under MIT license